placo 0.5.4__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.5.6__0-cp310-cp310-manylinux_2_35_x86_64.whl

cmeel.prefix/lib/python3.10/site-packages/placo.pyi

@@ -266,7 +266,7 @@ class AxisesMask:
   """Used to mask some task axises. 
     """
   R_custom_world: numpy.ndarray # Eigen::Matrix3d
-  """ROtation from world to custom rotation (provided by the user) 
+  """Rotation from world to custom rotation (provided by the user) 
         """
 
   R_local_world: numpy.ndarray # Eigen::Matrix3d
@@ -2047,6 +2047,10 @@ class DynamicsSolver:
   ) -> int:
     ...
 
+  damping: float # double
+  """Global damping that is added to all the joints. 
+        """
+
   dt: float # double
   """Solver dt (seconds) 
         """
@@ -2090,10 +2094,6 @@ class DynamicsSolver:
     """Enables the velocity vs torque inequalities."""
     ...
 
-  friction: float # double
-  """Global friction that is added to all the joints. 
-        """
-
   def get_contact(
     arg1: DynamicsSolver,
     arg2: int,
@@ -2154,50 +2154,28 @@ class DynamicsSolver:
     :param task: frame task"""
     ...
 
-  def reset_joint(
-    self: DynamicsSolver,
-    joint_name: str, # const std::string &
-
-  ) -> None:
-    """Resets a given joint so that its torque is no longer overriden. 
-        
-
-    :param joint_name: the joint"""
-    ...
-
   robot: RobotWrapper # placo::model::RobotWrapper
 
-  def set_passive(
+  def set_kd(
     self: DynamicsSolver,
-    joint_name: str, # const std::string &
-    kp: float = 0., # double
-    kd: float = 0., # double
+    kd: float, # double
 
   ) -> None:
-    """Sets a DoF as passive, the corresponding tau will be fixed in the equation of motion it can be purely passive joint or a spring-like behaviour. 
+    """Set the kp for all tasks. 
         
 
-    :param joint_name: the joint 
-
-    :param is_passive: true if the should the joint be passive 
-
-    :param kp: kp gain if the joint is a spring (0 by default) 
-
-    :param kd: kd gain if the joint is a spring (0 by default)"""
+    :param kpd:"""
     ...
 
-  def set_tau(
+  def set_kp(
     self: DynamicsSolver,
-    joint_name: str, # const std::string &
-    tau: float, # double
+    kp: float, # double
 
   ) -> None:
-    """Sets a custom torque to be applied by a given joint. 
+    """Set the kp for all tasks. 
         
 
-    :param joint_name: the joint 
-
-    :param tau: torque"""
+    :param kp:"""
     ...
 
   def solve(
@@ -2355,10 +2333,23 @@ class DynamicsTorqueTask:
   """Object priority. 
         """
 
+  def reset_torque(
+    self: DynamicsTorqueTask,
+    joint: str, # std::string
+
+  ) -> None:
+    """Removes a joint from this task. 
+        
+
+    :param joint: joint namle"""
+    ...
+
   def set_torque(
     self: DynamicsTorqueTask,
     joint: str, # std::string
     torque: float, # double
+    kp: float = 0.0, # double
+    kd: float = 0.0, # double
 
   ) -> None:
     """Sets the target for a given joint. 
@@ -2366,7 +2357,11 @@ class DynamicsTorqueTask:
 
     :param joint: joint name 
 
-    :param torque: target torque"""
+    :param torque: target torque 
+
+    :param kp: proportional gain (optional) 
+
+    :param kd: derivative gain (optional)"""
     ...
 
 
@@ -3232,6 +3227,16 @@ class HumanoidRobot:
   ) -> any:
     ...
 
+  def centroidal_map(
+    self: HumanoidRobot,
+
+  ) -> numpy.ndarray:
+    """Centroidal map. 
+        
+
+    :return: jacobian (6 x n matrix)"""
+    ...
+
   collision_model: any # pinocchio::GeometryModel
   """Pinocchio collision model. 
         """
@@ -5789,6 +5794,16 @@ class RobotWrapper:
     :param urdf_content: if it is not empty, it will be used as the URDF content instead of loading it from the file"""
     ...
 
+  def centroidal_map(
+    self: RobotWrapper,
+
+  ) -> numpy.ndarray:
+    """Centroidal map. 
+        
+
+    :return: jacobian (6 x n matrix)"""
+    ...
+
   collision_model: any # pinocchio::GeometryModel
   """Pinocchio collision model. 
         """
@@ -7213,6 +7228,15 @@ class map_string_double:
     ...
 
 
+def optimal_transformation(
+  points_in_A: numpy.ndarray, # Eigen::MatrixXd
+  points_in_B: numpy.ndarray, # Eigen::MatrixXd
+
+) -> numpy.ndarray:
+  """Finds the optimal transformation T_a_b that minimizes the sum of squared distances between the (same) points in A and T_a_b * points in B Points are stacked in lines (columns are x, y and z) in the matrices."""
+  ...
+
+
 def rotation_from_axis(
   axis: str, # std::string
   vector: numpy.ndarray, # Eigen::Vector3d

{placo-0.5.4.dist-info → placo-0.5.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.5.4
+Version: 0.5.6
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT
@@ -14,7 +14,7 @@ Requires-Dist: eiquadprog >= 1.2.6, < 2
 Requires-Dist: pin >= 2.6.18, < 3
 Requires-Dist: rhoban-cmeel-jsoncpp
 Requires-Dist: meshcat
-Requires-Dist: numpy
+Requires-Dist: numpy<2
 Requires-Dist: ischedule
 Provides-Extra: build
 Requires-Dist: pin[build] >= 2.6.18, < 3 ; extra == "build"

{placo-0.5.4.dist-info → placo-0.5.6.dist-info}/RECORD

@@ -1,14 +1,14 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=XMZvPuvg9OqQh8J8lRir5iMFVZOvmYQPWDeOJIEOVD8,2604920
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=ZlxhV1VATKxbobDkPmuk45_iHK11uEeof-9usUK3Wsk,155347
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=00KXefF62dKsyvxw3gTCDtMCXu7d2_l1zsj5nVFHouw,7593632
+cmeel.prefix/lib/liblibplaco.so,sha256=fzs8u8zYuPud3Rxb0XtDoxebFfbmp-LVKWgk8WMzA14,2625456
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=O4XUe9BdLlLOwYqP8E8UHR5dX6RUYBHX3npfRdHir9A,155599
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=OWgoySsIDEx0L4KC1M5fHYRH9inaBcDKBDQGSyV_0-M,7598744
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=EOXNjYKiOSE2F4vbEXoFJ4UBbGBUvC5v4ANjYL3IUVo,7440
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/__init__.cpython-310.pyc,sha256=tJrTajdA7hNO9tZkE1oN49rU-61lCNUED-mQXdAvzAs,261
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/tf.cpython-310.pyc,sha256=APWQ5-zKgbEcMnkv6Hxgj_Q46jpnuOyL9YbSrj6Z5Vw,204
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/visualization.cpython-310.pyc,sha256=csu-iQsBSz2cD40662EShITueJ9_KY5jhSLqDlItRew,6485
-placo-0.5.4.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.5.4.dist-info/METADATA,sha256=mxHNjf_-xZkdGvU3-33pb0Ysbiicjeenvi9Pq2K-JrI,873
-placo-0.5.4.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
-placo-0.5.4.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.5.4.dist-info/RECORD,,
+placo-0.5.6.dist-info/license/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.5.6.dist-info/METADATA,sha256=mals_hZHHdNB65FpfsA0WysvcpcChih7nmDj7IidE64,875
+placo-0.5.6.dist-info/WHEEL,sha256=y7GzdFHC0qrZwnE2SqFjrXxL9NLtXflO9hVb0PhWwIU,115
+placo-0.5.6.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.5.6.dist-info/RECORD,,